Glider Fleet Configurations

Deployment ru33-20211001T1841

Pilot Notes

u_reqd_depth_at_surface 2.25

Did loadmission ru33.mi 10/2 16 gmt
# ru28 Custom Config
# 8/14/2014		initial based on 2014 NJDEP 1
# 8/15/2015		disabled the filter; I don't think it does anything useful
# 2018/9/20   added lengthened abort timers
# for ru33 based on ru28 altimeter

# Low density abort stuff
sensor: u_abort_min_burn_time(sec)    600   # Never drop the weight before this time
sensor: u_abort_max_burn_time(sec)    28800 # 8 hrs, at least a tidal cycle, Always drop the weight after this time

# ALTIMETER
sensor: u_alt_reduced_usage_mode(bool)		0
sensor: u_alt_reqd_good_in_a_row(nodim)  	2
sensor: u_alt_filter_enabled(bool)       	0

# sensor: u_min_altimeter(m)   				2.0
# sensor: u_max_altimeter(m)				8.5

sensor: u_alt_min_depth(m)					1

# Avoid old bug
sensor: m_altitude_rate(m/s)        		-1

# STEERING
sensor: u_hd_fin_ap_gain(1/rad)      		1.50
sensor: u_hd_fin_ap_igain(1/rad-sec)		0.02
sensor: u_hd_fin_ap_dgain(sec/rad)			5.00

sensor: u_heading_deadband(rad)				0.087
sensor: u_heading_rate_deadband(rad/s) 		0.0087

sensor: u_hd_fin_ap_deadband_reset(bool)  	0  # true - reset integrator, false hold integrator
sensor: u_hd_fin_ap_hardover_holdoff(sec)  	60.0

Deployment ru33-20211001T1841

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